1HCL Closed Loop Issues
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Hey everyone,
I have finally got my new motors into my printer. I have just got them from LDO and they have the following specs:
0.9 degree
0.9 Ohm
1.8mH Inductance
45N.cm
2.4A
2500CPR encoderI have set them up and wired them with the pre terminated wires from LDO for the Duet board which was awesome as I had to do no crimping.
That was the easy bit. Now onto the world of hurt I have been putting myself through for the past 4 hours.
Below is an excerpt from my config file for the x and y:
;X and Y M569.1 P10.0 T2 C7.81 R100 I0 D0 E5:10 ; Configure the 1HCL board at CAN address 10 with a quadrature encoder on the motor shaft that has 20 steps per motor full step M569 P10.0 D4 S0 ; Configure the motor on the 1HCL at can address 50 as being in closed-loop drive mode (D4) and not reversed (S0) M569.1 P11.0 T2 C7.81 R100 I0 D0 E5:10 ; Configure the 1HCL board at CAN address 11 with a quadrature encoder on the motor shaft that has 20 steps per motor full step M569 P11.0 D4 S0 ; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4) and not reversed (S0) M584 X10.0 Y11.0 ; Set Drive Mapping M350 X16 Y16 I1 ; configure microstepping M92 X160 Y160 ; Set Steps Per mm M566 X800 Y800 ; Set Jerk M203 X36000 Y36000 ; Set Max Speed M201 X20000 Y20000 ; Set Max Accel M906 X2200 Y2200 ; Set Motor Current M917 X0 Y0 ; Set the closed loop axes to have a holding current of zeroand my homing files are
; homex.g ; called to home the X axis M569 P10.0 D0 ; Turn off closed loop M569 P11.0 D0 G91 ; relative positioning G1 H2 Z5 F6000 ; lift Z relative to current position\ G1 H1 Y-368.5 F3000 G1 H1 X-368 F3000 ; move quickly to X axis endstop and stop there (first pass) G1 H2 X5 F6000 ; go back a few mm G1 H1 X-240 F240 ; move slowly to X axis endstop once more (second pass) G90 ; absolute positioning G1 X50 F3000 ; Move to a known-safe position M400 ; Wait for the move to complete G4 P500 ; Wait for the motor to settle M569 P10.0 D4 ; Turn closed loop back on M569.6 P10.0 V1 ; Perform the tuning manoeuvres for a quadrature encoder G1 X0 ; Move back to X0 G1 H2 Z0 F6000 ; lower Z again; homey.g ; called to home the X axis M569 P11.0 D0 ; Turn off closed loop G91 ; relative positioning G1 H2 Z5 F6000 ; lift Z relative to current position G1 H1 Y-380 F3000 ; move quickly to X axis endstop and stop there (first pass) G1 H2 Y5 F6000 ; go back a few mm G1 H1 Y-240 F240 ; move slowly to X axis endstop once more (second pass) G90 ; absolute positioning G1 Y50 F3000 ; Move to a known-safe position M400 ; Wait for the move to complete G4 P500 ; Wait for the motor to settle M569 P11.0 D4 ; Turn closed loop back on M569.6 P11.0 V1 ; Perform the tuning maneuvers for a quadrature encoder G1 Y0 ; Move back to X0 G1 H2 Z0 F6000 ; lower Z againSome people will probably point out that in my X homing, I home Y first. This is intentional at the moment as I have a x switch that is attached to the frame so need to home Y to make sure that the carriage hits the switch. I then always home Y regardless.
The issue I am having is I always fail the tuning after it has homed, stating for both axis
Warning: Driver 11.0 warning: tuning failed Warning: Driver 11.0 new tuning error(s): The measured motion was less than expected; counts/step is about 6.12.And because of it, I can not run the printer. Can anyone please point me to where I might be going wrong. It is a CoreXY printer.
Sam
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Managed to figure it out. In all of my playing around I forgot to change the C parameter back. Now to deal with the tuning as it is sitting there humming
Sam
